Article 30 (5a) of the UNCRPD states that participation in mainstream sport should be a right for all individuals. However, many disabled people still face barriers to participation, and provision remains segregated and/or determined, at least in part, by the nature and degree of impairment. This paper explores the Mixed Ability (MA) model as an innovative approach to facilitating disabled people’s participation in, and engagement with, mainstream sport. It outlines findings from an evaluation of the Sport England-funded Mixed Ability Sport Development Programme, which saw the MA model trialed in a variety of sports. A participatory research design was employed to generate data with key stakeholder groups involved in the design and delivery of programme activities, as well as with MA participants. Analysis of the data identified three core themes: (i) defining MA sport; (ii) the impacts of MA sport; and (iii) challenges and enablers of MA sport. In discussing these, it is argued that the MA model can be a powerful approach to inclusion and help to shape meaningful change. Indeed, the data suggest that the impacts of MA activities can extend beyond the individual level and influence shifts in both sports club culture and wider perceptions around disability. The paper closes by considering the implications of the research and outlines recommendations for future practice in this area.